CN108828510A - A kind of radio frequency tomography localization method based on gradual change shade weight model - Google Patents
A kind of radio frequency tomography localization method based on gradual change shade weight model Download PDFInfo
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- CN108828510A CN108828510A CN201810530929.3A CN201810530929A CN108828510A CN 108828510 A CN108828510 A CN 108828510A CN 201810530929 A CN201810530929 A CN 201810530929A CN 108828510 A CN108828510 A CN 108828510A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a kind of radio frequency tomography localization methods based on gradual change shade weight model, a kind of gradual change shade weight model is proposed on the spatial relationship that Radio Link influences according to target, establish the exact relationship between target position and change in signal strength, and the shortcomings that ellipse short shaft length is by experience value in existing weight model is overcome, to improve radio frequency chromatography image quality；Simultaneously according to received signal strength on anomaly link（Received Signal Strength,RSS）Variation feature usually less than normal or bigger than normal, when realizing positioning, active link is picked out using double threshold method to be imaged, required computing resource and storage resource not only can be reduced, and the influence of outlier link pair positioning result can be removed in solution procedure, to improve the accuracy of positioning result, and reduce the interference of pseudo- target.
Description
Technical field
The present invention relates to a kind of radio frequency tomography localization methods based on gradual change shade weight model, belong to wireless location
Technical field.
Background technique
It currently, is the numerous wireless of representative with Technique of Satellite Navigation and Positioning, cellular localization technology and WiFi location technology etc.
Location technology, has to be needed to carry by positioning target and matches the requirement of positioning device with positioning system, for example, GPS receiver or
Otherwise mobile phone etc. just cannot achieve positioning.This positioning method for requiring to be actively engaged in position fixing process by positioning target, referred to as
Positive location mode.This kind of positioning method often can realize arrival time by the cooperation between positioning system and positioning device
(Time of Arrival, TOA), reaching time-difference (Time Difference of Arrival, TDOA), angle of arrival
Parameter measurements such as (Angle of Arrival, AOA), and then calculate position coordinates.However, after such as invasive noise, calamity
Under the applications such as rescue, battlefield detecting, hostage's rescue, it is desirable that carry the positioning to match with positioning system by positioning target and fill
Set often unpractical or impossible, the parameters such as TOA, TDOA, AOA will be unable to measure at this time, positive location mode
Also it will be unable to realize.
In response to this, become wireless location without being carried the Passive Positioning mode of any positioning device by positioning target
One of the research hotspot in field and difficult point, also referred to as without device target positioning (Device-Free Localization,
DFL).At present both at home and abroad for solving to be broadly divided into two classes without the technology of device target orientation problem：One kind is based on non-radio frequencies
The localization method of technology, another kind of is the localization method based on radio-frequency technique.Non-radio frequencies technology mainly includes video technique, infrared
Technology and pressure techniques etc..Wherein, video technique utilizes multiple camera collection image information, then passes through image processing algorithm
Carry out positioning analysis.This location technology typically cost is higher, and the requirement due to photographic device to light, cannot be at night
It is used in dark surrounds, can not also penetrate barrier.Although infrared target positioning system is not necessarily to the requirement of light, due to red
The penetration range of outside line is limited, and infrared ray is more susceptible to the influence of environmental change than radio signal, therefore in many occasions
It can not be applicable in.Pressure techniques are acceleration transducer by being placed on floor and baroceptor to detect whether someone's
Footprint come realize positioning, this technology need than comparatively dense inserting knot could in claimed range effective position, because forming
This is higher.The above factor strongly limits application of the non-radio frequencies class technology in no device target positioning field.
It in the DFL method based on radio-frequency technique, removes outside ULTRA-WIDEBAND RADAR with high costs, people utilize low cost
Wireless sense network changes to be positioned according to RF signal strength caused by target, and uses for reference the thought of medicine CT, proposes to penetrate
Frequency tomography (Radio Tomographic Imaging, RTI) technology.RTI is using wireless sensor network come measurement and positioning
RF electromagnetic signal is distributed in region, and thus obtains target to be positioned to the image after electromagnetic field effects, and then according to the figure
As come the position of inferring target.Realize RTI key first is that need to establish using shade weight model target position with believe
Relationship between number Strength Changes.It is that this relationship is constructed using oval shade weight model in initial RTI, the mould
Type assume using a pair of of radio node as the weight of all lattice points in the ellipse that elliptic focus is constituted with this at a distance from node at
Inverse ratio, and the weight of oval outer all lattice points is zero.Although this model has certain reasonability, all lattice points in ellipse
Weight is identical and does not meet reality, and the ellipse short shaft length of the model is chosen by experience, is equally theoretically unsound.Cause
This, often image quality is not high for the RTI imaging results based on oval shade weight model, is easy to appear pseudo- target, influences DFL essence
Degree.
Summary of the invention
In order to solve the problems in the existing technology the present invention, proposes a kind of DFL based on gradual change shade weight model
Localization method, this method establish the exact relationship between target position and change in signal strength using gradual change shade weight model,
And the image quality for improving the positioning of radio frequency tomography；Active link is picked out using double threshold method simultaneously to be imaged,
To improve the accuracy of positioning result, the interference of pseudo- target is reduced.
In order to achieve the above object, technical solution proposed by the present invention is：A kind of penetrating based on gradual change shade weight model
Frequency tomography localization method, includes the following steps：
Step 1: establishing wireless location system, the positioning system includes several wireless receiving and dispatching nodes, wireless receiving and dispatching section
Point communicates with each other between any two, forms multi wireless links；
Step 2: establishing gradual change shade weight model to the spatial relationship that Radio Link influences according to target；
Step 3: measuring RSS value of the Radio Link in no target and when having target respectively；
Step 4: choosing active link using double threshold mode；
Step 5: being positioned based on gradual change shade weight model using radio frequency tomography method base.
Above-mentioned technical proposal is further designed to：The positioning system includes M+1 wireless receiving and dispatching node, with wireless
Networking is carried out based on communication protocol, wherein M wireless receiving and dispatching node constitutes measurement network, is evenly distributed on positioning system institute
On the periphery of localization region, the M+1 node is data acquisition node, is responsible for collecting data；The M wireless receiving and dispatching node two
It is communicated with each other between two, forms L=M × (M-1)/2 wireless links；The localization region is evenly dividing as N number of pixel.
Gradual change shade weight model corresponding to (i=1,2 ..., L) link i-th in the gradual change shade weight model
Formula is as follows：
Wherein, wijIt indicates when target is located at j-th of pixel on influencing corresponding weighted value produced by i-th link,
diFor i-th linkage length, dij1, dij2Distance of respectively j-th of the pixel to i-th two node of link of composition, aiIt indicates
I-th link pair answers elliptical long axis length；For the corresponding maximum of i-th link
1st Fresnel region radius, wherein λ indicates the wavelength of electromagnetic wave.
The collection for the active link that the double threshold method is chosen is combined into：
S={ li|thlow< Δ yi(t) < thhigh, i=1 ..., L }
Wherein, lower threshold thlow=max { μ (t)-σ (t) × zα/2|,min(ΔY(t))+3}；Upper threshold is
thhigh=min | μ (t)+σ (t) × zα/2|, max (Δ Y (t)) -3 }, △ yi(t) the RSS variation of i-th link of t moment is indicated
Amount, △ Y (t)=[△ y1(t)Δy2(t)…ΔyL(t)], zα/2Indicate the α (0 of RSS variable quantity probability distribution<α<1) quantile
Value, represents the confidence level of 1- α,WithRespectively represent all L of t moment
The mean value and variance of chain road RSS variable quantity.
The radio frequency tomography positioning includes the following steps：
Step 5.1 assumes that step 4 picks out P active link, calculates separately the RSS variable quantity of P active link, ties
Fruit is denoted as Δ YP, image-forming principle is chromatographed according to radio frequency, can be obtained：
ΔYP=WPx+v
Wherein, x=[x1,x2,…,xN]TIndicate the pixel vector that localization region divides, xi, i=1,2 ..., N indicates each picture
Value on vegetarian refreshments, v indicate noise vector, WPFor weight matrix, it is made of P row vector corresponding with P link in set S.
Step 5.2 introduces regularization constraint item, and it is as follows to obtain objective function：
Wherein, β indicates that regularization coefficient, Q indicate regular matrix, | | | | it indicates 2 norms, seeks above formula, obtain：
The beneficial effects obtained by the present invention are as follows：
(1) method of the invention replaces the model of ellipse of existing fixed weight to go to realize radio frequency with gradual change shade weight model
Tomography, while the shortcomings that ellipse short shaft length is by experience value is overcome, model error can be effectively reduced, imaging is improved
Quality；
(2) method of the invention using double threshold method filter off outlier link, realize positioning when merely with active link into
Row imaging, not only can reduce required computing resource and storage resource, and can mitigate the influence of pseudo- target significantly, mention
The accuracy and robustness of high positioning result.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of positioning system in the present invention；
Fig. 2 is gradual change shade weight model parameters relationship schematic diagram；
Fig. 3 is existing RTI method target positioning experiment result figure in the embodiment of the present invention；
Fig. 4 is the target positioning experiment result figure of the method for the present invention in the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described in detail.
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Radio frequency tomography localization method based on gradual change shade weight model of the invention, includes the following steps：
Step 1: establishing positioning system；
The positioning system includes M+1 wireless receiving and dispatching node, based on the wireless communication protocol of IEEE802.15.4 into
Row networking, wherein M wireless receiving and dispatching node constitutes measurement network, is evenly distributed on the periphery of localization region, the M+1 section
Point is data acquisition node, is responsible for collecting data；The M wireless receiving and dispatching node communicates with each other between any two, and composition L=M ×
(M-1)/2 wireless links；Localization region is evenly dividing into N number of pixel, and positioning system structure is as shown in Figure 1.
Step 2: constructing gradual change shade weight model to the spatial relationship that Radio Link influences according to target；
According to experiment and theory analysis, gradual change shade weight model formula corresponding to i-th (i=1,2 ..., L) link
It is as follows：
Wherein, wijIt indicates when target is located at j-th of pixel on influencing corresponding weighted value produced by i-th link,
diFor i-th linkage length, dij1, dij2Distance of respectively j-th of the pixel to i-th two node of link of composition, aiIndicate the
I link pair answers elliptical long axis length.For i-th article of link the corresponding maximum 1st
Fresnel region radius, wherein λ indicates the wavelength of electromagnetic wave.Fig. 2 gives the example of above each amount.
Step 3: RSS value of the measurement Radio Link under background environment and when having target；
According to communication theory, the received signal strength RSS value of receiving end can be expressed as in i-th link
yi(t)=Pi-Li-Si(t)-Fi(t)-vi(t) (2)
Wherein PiThe transmission power for indicating transmitting terminal generally assumes that sending power fixes, LiIt indicates and transmission range, antenna
The relevant quiescent dissipation such as mode, Si(t) shadow loss, F are indicatedi(t) fading loss, v are indicatedi(t) noise is represented.It surveys respectively
The RSS measured value of i-th link when measuring without target and having target, then in the RSS variation delta y of i-th link of moment ti(t)
It can be expressed as
Wherein yi(0)=Pi-Li-Fi(0)-vi(0) the background RSS measured value of i-th link in the presence of no target is indicated,Due to noise compare with shadow fading it is much smaller, so Δ yi(t) mainly by t when
The shadow fading at quarter determines.Using same measurement method, the measured value of whole L links can use vector Y (t)=[y1(t)
y2(t) … yL(t)]TIt indicates, wherein []TIndicate transposition operation.Correspondingly, background measurement vector can use Y (0)=[y1(0)
y2(0) … yL(0)]TTo indicate.Calculate the difference of measurement vector Y (t) and background measurement vector Y (0), so that it may when obtaining t
Carve RSS diverse vector Δ Y (t)=abs [Y (t)-Y (0)]=[Δ y1(t) Δy2(t) … ΔyL(t)], wherein abs [] table
Show absolute value operation.
Step 4: choosing active link using double threshold mode；
The mean value and variance of all L chains of t moment road RSS variable quantity are calculated separately first, and calculation formula is respectively
Lower threshold is set as thlow=max | μ (t)-σ (t) × zα/2|,min(ΔY(t))+3}；Upper threshold is
thhigh=min | μ (t)+σ (t) × zα/2|, max (Δ Y (t)) -3 }, zα/2Indicate the α (0 of RSS variable quantity probability distribution<α<1)
Quartile point value represents the confidence level of 1- α.
RSS variation delta Y (t) is less than lower threshold or is considered as outlier link greater than the link of upper threshold, because
This active link collection is combined into
S={ li|thlow< Δ yi(t) < thhigh, i=1 ..., L } (6)
Step 5: carrying out the positioning of radio frequency tomography using weight model is improved.
Assuming that picking out P active link in step 4, the RSS variable quantity of P active link is calculated separately, is as a result denoted as
ΔYP.Image-forming principle is chromatographed according to radio frequency, can be obtained：
ΔYP=WPx+v (7)
Wherein, x=[x1,x2,…,xN]TIndicate the pixel vector that localization region divides, xi, i=1,2 ..., N indicates each picture
Value on vegetarian refreshments, v indicate noise vector, and weight model is calculated according to the formula of step 2), but different from general RTI mode
, only select P row vector corresponding with P link in set S and constitute WP。
Regularization constraint item is introduced, it is as follows to obtain objective function：
Wherein, β indicates that regularization coefficient, Q indicate regular matrix, | | | | it indicates 2 norms, solves formula (8), obtain：
Embodiment
The present embodiment is based on the CC2530 chip for meeting Zigbee protocol, independent development wireless receiving and dispatching node.It is fixed
Position region is one 6.3 meters × 6.3 meters of square region, and 1 wireless receiving and dispatching node is put every 0.9 meter, in total 28 it is wireless
Transmitting-receiving node composition positioning network, in addition 1 radio node is responsible for measurement data being transmitted to computer as data acquisition node.
Each positioning node is placed on height as on 1 meter of bracket.In terms of software protocol, the present embodiment is with IEEE802.15.4 channel radio
Based on believing agreement, using Z-stack protocol stack sofeware, journey that independent development poll measurement and received signal strength indication are read
Sequence code.28 positioning nodes successively compile ID number from 1 to 28, and different modules is distinguished by the difference of the ID number.One section
When point sends location data, data packet can carry the ID number of sending module, after next node receives this ID number, will trigger
The transmission of the location data of the node, such poll measurement are just set up.When sending node send location data it
Afterwards, an intensity value RSSI can be generated when other positioning nodes receive the data, and this data is preserved immediately, then
It is successively sent to data acquisition node, and computer is sent to by data acquisition node.Once data are collected, by processing
Afterwards, active link is chosen in the way of double threshold；Then it is calculated using gradual change shade weight model and formula (1)-(9),
It can be obtained by radio frequency tomography positioning result, wherein pixel N=2500, regularization coefficient are β=10, α=0.05.
It under similarity condition, while being positioned using existing RTI method, to be compared with the result of the method for the present invention.Such as Fig. 3
It is shown, it is the single target imaging experiment result figure that the prior art uses RTI method, (1.8,2.7) rice is in by positioning target
Position, and Fig. 4 is present invention single target positioning result figure under the same conditions, is similarly in (1.8,2.7) by positioning target
Rice position.As shown in figure 3, existing RTI method exists largely in vain due to the model of ellipse using fixed weight, and in link set
Link influences, and target highlight is not clear enough on figure, and the speck of one piece of almost the same brightness also occurs in the upper left corner, is easy to cause
Misjudgement is false target picture.As shown in figure 4, the positioning performance of the method for the present invention is better than existing RTI method, not only ambient noise
It is less, and the false target in the upper left corner does not also occur.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of radio frequency tomography localization method based on gradual change shade weight model, which is characterized in that include the following steps：
Step 1: establishing wireless location system, the positioning system includes several wireless receiving and dispatching nodes, wireless receiving and dispatching node two
It is communicated with each other between two, forms multi wireless links；
Step 2: establishing gradual change shade weight model to the spatial relationship that Radio Link influences according to target；
Step 3: measuring RSS value of the Radio Link in no target and when having target respectively；
Step 4: choosing active link using double threshold mode；
Step 5: being positioned based on gradual change shade weight model using radio frequency tomography method base.
2. the radio frequency tomography localization method according to claim 1 based on gradual change shade weight model, feature exist
In：The positioning system includes M+1 wireless receiving and dispatching node, and group is carried out based on IEEE802.15.4 wireless communication protocol
Net, wherein M wireless receiving and dispatching node constitutes measurement network, is evenly distributed on the periphery of positioning system institute localization region, M+
1 node is data acquisition node, is responsible for collecting data；The M wireless receiving and dispatching node communicates with each other between any two, forms L
=M × (M-1)/2 wireless links；The localization region is evenly dividing as N number of pixel.
3. the radio frequency tomography localization method according to claim 1 based on gradual change shade weight model, feature exist
In：Gradual change shade weight model formula corresponding to (i=1,2 ..., L) link is such as i-th in the gradual change shade weight model
Under：
Wherein, wijIt indicates when target is located at j-th of pixel on the corresponding weighted value of influence, d produced by i-th linkiFor
I-th linkage length, dij1, dij2Distance of respectively j-th of the pixel to i-th two node of link of composition, aiIndicate i-th
Link pair answers elliptical long axis length；For the corresponding maximum 1st luxuriant and rich with fragrance alunite of i-th article of link
That area radius, wherein λ indicates the wavelength of electromagnetic wave.
4. the radio frequency tomography localization method according to claim 1 based on gradual change shade weight model, feature exist
In：The collection for the active link that the double threshold method is chosen is combined into：
S={ li|thlow< Δ yi(t) < thhigh, i=1 ..., L }
Wherein, lower threshold thlow=max | μ (t)-σ (t) × zα/2|,min(ΔY(t))+3}；Upper threshold is thhigh=
min{|μ(t)+σ(t)×zα/2|, max (Δ Y (t)) -3 }, Δ yi(t) the RSS variable quantity of i-th link of t moment, Δ Y are indicated
(t)=[Δ y1(t)Δy2(t)…ΔyL(t)], zα/2Indicate the α (0 of RSS variable quantity probability distribution<α<1) quartile point value represents
The confidence level of 1- α,WithRespectively represent all L chain roads of t moment
The mean value and variance of RSS variable quantity.
5. the radio frequency tomography localization method according to claim 1 based on gradual change shade weight model, feature exist
In：The radio frequency tomography positioning includes the following steps：
Step 5.1 assumes that step 4 picks out P active link, calculates separately the RSS variable quantity of P active link, as a result remembers
For Δ YP, image-forming principle is chromatographed according to radio frequency, can be obtained：
ΔYP=WPx+v
Wherein, x=[x1,x2,…,xN]TIndicate the pixel vector that localization region divides, xi, i=1,2 ..., N indicates each pixel
On value, v indicate noise vector, WPFor weight matrix, it is made of P row vector corresponding with P link in set S.
Step 5.2 introduces regularization constraint item, and it is as follows to obtain objective function：
Wherein, β indicates that regularization coefficient, Q indicate regular matrix, | | | | it indicates 2 norms, seeks above formula, obtain：
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